G1/README.md

Metatron v1 — G1

Native PyTorch inference package for the Unitree G1, including policy weights, portable resolved configuration and reconstruction recipe. This is the SAMP-capable G1 policy, not a SOMA policy or a resumable training checkpoint.

See MODEL_CARD.md for architecture, inputs, scene limitations, training provenance and safe use. LICENSE.pdf and NOTICE.txt must accompany redistributed model artifacts; code is Apache-2.0 and third-party data/assets keep their own terms.

From a compatible ProtoMotions checkout with MuJoCo dependencies installed:

python scripts/download_metatron.py
python protomotions/inference_agent.py --simulator mujoco --num-envs 1 \
  --checkpoint data/pretrained_models/metatron/G1/inference_last.ckpt \
  --inference-config examples/inference/metatron.py

The helper pins the Hub revision and verifies every file. It includes the license and model card. --configs-only downloads the small sidecars for config tests, not a runnable policy. Avoid mixing files from different revisions. The current native preset cycles idle/location/steering/reaching with X and masks scene inputs. Use the separate demo/model.onnx and its paired application for the scene-capable browser interface; a generic native re-export is not the same graph. racer/network.onnx is the six-robot browser interface.

No training data, recovery clips or robot meshes are included here. Robot and example motion assets are supplied separately by ProtoMotions under their own terms.